Kollmorgen AKD series User Manual

CS.TO
General Information
Type NV Parameter
Description Sets the time value for the drive velocity to be within CS.VTHRESH.
Units ms
Range 1 to 30,000 ms
Default Value 6 ms
Data Type Integer
See Also
CS.DEC, CS.VTHRESH, CS.STATE, DRV.DIS, DIN1.MODE TO
DIN7.MODE, DRV.DISMODE, DRV.DISSOURCES
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3440h/3 M_01-00-00-000
Modbus 112 M_01-03-00-000
Description
CS.TO is the time value for the drive velocity to be within CS.VTHRESH before the drive disables.
Example
Set time value to 100 ms:
-->CS.TO 100
Related Topics
10.10 Controlled Stop
10.1 Digital Inputs and Outputs
17.1 Fault and Warning Messages (this table indicates faults for which a controlled stop occurs)
CS.VTHRESH
General Information
Type NV Parameter
Description Sets the velocity threshold for the controlled stop.
Units rpm, rps, deg/s, (PIN/POUT)/s
Range 0 to 200 rpm
Default Value 5 rpm
Data Type Float
See Also
CS.DEC, CS.TO, CS.STATE DRV.DIS, DIN1.MODE TO DIN7.MODE,
DRV.DISMODE, DRV.DISSOURCES
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT and
CANopen
3440h/2 M_01-00-00-000
Modbus 114 M_01-03-00-000
Description
CS.VTHRESH is the velocity threshold for the controlled stop algorithm.
AKD User Guide | CS Parameters
Kollmorgen | December 2010 323

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing